150 lines
6.9 KiB
C++
150 lines
6.9 KiB
C++
|
/*M///////////////////////////////////////////////////////////////////////////////////////
|
||
|
|
//
|
||
|
|
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||
|
|
//
|
||
|
|
// By downloading, copying, installing or using the software you agree to this license.
|
||
|
|
// If you do not agree to this license, do not download, install,
|
||
|
|
// copy or use the software.
|
||
|
|
//
|
||
|
|
//
|
||
|
|
// License Agreement
|
||
|
|
// For Open Source Computer Vision Library
|
||
|
|
//
|
||
|
|
// Copyright (C) 2015, OpenCV Foundation, all rights reserved.
|
||
|
|
// Third party copyrights are property of their respective owners.
|
||
|
|
//
|
||
|
|
// Redistribution and use in source and binary forms, with or without modification,
|
||
|
|
// are permitted provided that the following conditions are met:
|
||
|
|
//
|
||
|
|
// * Redistribution's of source code must retain the above copyright notice,
|
||
|
|
// this list of conditions and the following disclaimer.
|
||
|
|
//
|
||
|
|
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||
|
|
// this list of conditions and the following disclaimer in the documentation
|
||
|
|
// and/or other materials provided with the distribution.
|
||
|
|
//
|
||
|
|
// * The name of the copyright holders may not be used to endorse or promote products
|
||
|
|
// derived from this software without specific prior written permission.
|
||
|
|
//
|
||
|
|
// This software is provided by the copyright holders and contributors "as is" and
|
||
|
|
// any express or implied warranties, including, but not limited to, the implied
|
||
|
|
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||
|
|
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||
|
|
// indirect, incidental, special, exemplary, or consequential damages
|
||
|
|
// (including, but not limited to, procurement of substitute goods or services;
|
||
|
|
// loss of use, data, or profits; or business interruption) however caused
|
||
|
|
// and on any theory of liability, whether in contract, strict liability,
|
||
|
|
// or tort (including negligence or otherwise) arising in any way out of
|
||
|
|
// the use of this software, even if advised of the possibility of such damage.
|
||
|
|
//
|
||
|
|
//M*/
|
||
|
|
|
||
|
|
#ifndef __OPENCV_GRAY_CODE_PATTERN_HPP__
|
||
|
|
#define __OPENCV_GRAY_CODE_PATTERN_HPP__
|
||
|
|
|
||
|
|
#include "opencv2/core.hpp"
|
||
|
|
#include "opencv2/structured_light/structured_light.hpp"
|
||
|
|
|
||
|
|
namespace cv {
|
||
|
|
namespace structured_light {
|
||
|
|
//! @addtogroup structured_light
|
||
|
|
//! @{
|
||
|
|
|
||
|
|
/** @brief Class implementing the Gray-code pattern, based on @cite UNDERWORLD.
|
||
|
|
*
|
||
|
|
* The generation of the pattern images is performed with Gray encoding using the traditional white and black colors.
|
||
|
|
*
|
||
|
|
* The information about the two image axes x, y is encoded separately into two different pattern sequences.
|
||
|
|
* A projector P with resolution (P_res_x, P_res_y) will result in Ncols = log 2 (P_res_x) encoded pattern images representing the columns, and
|
||
|
|
* in Nrows = log 2 (P_res_y) encoded pattern images representing the rows.
|
||
|
|
* For example a projector with resolution 1024x768 will result in Ncols = 10 and Nrows = 10.
|
||
|
|
|
||
|
|
* However, the generated pattern sequence consists of both regular color and color-inverted images: inverted pattern images are images
|
||
|
|
* with the same structure as the original but with inverted colors.
|
||
|
|
* This provides an effective method for easily determining the intensity value of each pixel when it is lit (highest value) and
|
||
|
|
* when it is not lit (lowest value). So for a a projector with resolution 1024x768, the number of pattern images will be Ncols * 2 + Nrows * 2 = 40.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
class CV_EXPORTS_W GrayCodePattern : public StructuredLightPattern
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
|
||
|
|
/** @brief Parameters of StructuredLightPattern constructor.
|
||
|
|
* @param width Projector's width. Default value is 1024.
|
||
|
|
* @param height Projector's height. Default value is 768.
|
||
|
|
*/
|
||
|
|
struct CV_EXPORTS Params
|
||
|
|
{
|
||
|
|
Params();
|
||
|
|
int width;
|
||
|
|
int height;
|
||
|
|
};
|
||
|
|
|
||
|
|
/** @brief Constructor
|
||
|
|
@param parameters GrayCodePattern parameters GrayCodePattern::Params: the width and the height of the projector.
|
||
|
|
*/
|
||
|
|
static Ptr<GrayCodePattern> create( const GrayCodePattern::Params ¶meters = GrayCodePattern::Params() );
|
||
|
|
|
||
|
|
// alias for scripting
|
||
|
|
CV_WRAP
|
||
|
|
static Ptr<GrayCodePattern> create( int width, int height );
|
||
|
|
|
||
|
|
/** @brief Get the number of pattern images needed for the graycode pattern.
|
||
|
|
*
|
||
|
|
* @return The number of pattern images needed for the graycode pattern.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
CV_WRAP
|
||
|
|
virtual size_t getNumberOfPatternImages() const = 0;
|
||
|
|
|
||
|
|
/** @brief Sets the value for white threshold, needed for decoding.
|
||
|
|
*
|
||
|
|
* White threshold is a number between 0-255 that represents the minimum brightness difference required for valid pixels, between the graycode pattern and its inverse images; used in getProjPixel method.
|
||
|
|
*
|
||
|
|
* @param value The desired white threshold value.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
CV_WRAP
|
||
|
|
virtual void setWhiteThreshold( size_t value ) = 0;
|
||
|
|
|
||
|
|
/** @brief Sets the value for black threshold, needed for decoding (shadowsmasks computation).
|
||
|
|
*
|
||
|
|
* Black threshold is a number between 0-255 that represents the minimum brightness difference required for valid pixels, between the fully illuminated (white) and the not illuminated images (black); used in computeShadowMasks method.
|
||
|
|
*
|
||
|
|
* @param value The desired black threshold value.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
CV_WRAP
|
||
|
|
virtual void setBlackThreshold( size_t value ) = 0;
|
||
|
|
|
||
|
|
/** @brief Generates the all-black and all-white images needed for shadowMasks computation.
|
||
|
|
*
|
||
|
|
* To identify shadow regions, the regions of two images where the pixels are not lit by projector's light and thus where there is not coded information,
|
||
|
|
* the 3DUNDERWORLD algorithm computes a shadow mask for the two cameras views, starting from a white and a black images captured by each camera.
|
||
|
|
* This method generates these two additional images to project.
|
||
|
|
*
|
||
|
|
* @param blackImage The generated all-black CV_8U image, at projector's resolution.
|
||
|
|
* @param whiteImage The generated all-white CV_8U image, at projector's resolution.
|
||
|
|
*/
|
||
|
|
CV_WRAP
|
||
|
|
virtual void getImagesForShadowMasks( InputOutputArray blackImage, InputOutputArray whiteImage ) const = 0;
|
||
|
|
|
||
|
|
/** @brief For a (x,y) pixel of a camera returns the corresponding projector pixel.
|
||
|
|
*
|
||
|
|
* The function decodes each pixel in the pattern images acquired by a camera into their corresponding decimal numbers representing the projector's column and row,
|
||
|
|
* providing a mapping between camera's and projector's pixel.
|
||
|
|
*
|
||
|
|
* @param patternImages The pattern images acquired by the camera, stored in a grayscale vector < Mat >.
|
||
|
|
* @param x x coordinate of the image pixel.
|
||
|
|
* @param y y coordinate of the image pixel.
|
||
|
|
* @param projPix Projector's pixel corresponding to the camera's pixel: projPix.x and projPix.y are the image coordinates of the projector's pixel corresponding to the pixel being decoded in a camera.
|
||
|
|
*/
|
||
|
|
CV_WRAP
|
||
|
|
virtual bool getProjPixel( InputArrayOfArrays patternImages, int x, int y, CV_OUT Point &projPix ) const = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
//! @}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|